A NOVEL GAIT-INSPIRED FOUR-BAR LOWER LIMB EXOSKELETON TO GUIDE THE WALKING MOVEMENT

摘要

Background: Walking is a complex process that involves rhythmic movement of lower limb along with the coordination of brain, nerves and muscles. If the coordination is disturbed, gait may be effected or disordered. Therefore, it should be treated effectively and efficiently using assistive devices/exoskeletons. The exoskeletons and assistive devices may be embedded with the linkage and other mechanisms to imitate the behavior of human lower limb. However, these mechanisms are synthesized using the complex conventional procedures. Thus, a new gait-inspired algorithm is proposed in this study for synthesizing a four-bar mechanism for exoskeletons.